Strategies for searching an area with semi-autonomous mobile robots
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This paper describes three search strategies for the semi-autonomous robotic search of an area, and how they can be implemented via reactive behaviors within a semi-autonomous control architecture. The operator performs semantic search, the robot is responsible for systematic search, and opportunistic search is done cooperatively. The robotic search behavior is a collection of three reactive behaviors (navigation, scanning, and examination) coordinated by a search controller. The paper reports on work in progress in implementing these search strategies and architecture on the Colorado School of Mines mobile robot, Clementine.
author list (cited authors)
Murphy, R. R., & Sprouse, J. J.